Mitsubishi CR750-Q Series User Manual

21 Appendix
21.2. Shine of changing parameter
When the tracking function is used, the parameter need to be changed depens on operation phase. List of the
parameter is shown as follow.
List 21-2 List of the user shine of changing parameter
No. Operation phase
Model
Parameter
name
Example Explanation
CR750-Q
CR751-Q
CRnQ-700
CR750-D
CR751-D
CRnD-700
1
Power on
Setting orgin
JOG operation
－ － － －
2
Attach option
Connection with
peripherals
●
－
ENCUNIT1
ENCUNIT2
ENCUNIT3
0, 5
-1, 0
-1, 0
It is set to have installed
Q173DPX unit into 5 I/O slot
of the base unit.
By setting it, incremental three
encoders connected with
Q173DPX unit are recognized
physical encoder number 1 to 3.
3 ● ● TRMODE 1
It makes tracking function valid.
By being valid, incremental
encoder value can be got.
4
In case of robot
programming
● ● EXTENC
1, 2,
3, 1,
2, 3,
1, 2
About EXTENC, because
initial value is 1,2,1,2,1,2,1,2,
physical encoder number 1 and
2 are allocated to logic
encoder(physical encoder
number3) number 1 to 8. At this
time, the encoder connected
with CH3 of Q173DPX unit is
not allocated to logic encoder
number. So by changing this
parameter to 1,2,3,1,2,3,1,2, the
encoder of CH3 is allocated to
logic encoder number 3 and 6.
Also it is possible in following
case. 3 pcs encoder are
connected with Q173DPX unit
and attach each encoder to
conveyer 1 to 3. If conveyer1
connect to encoder3, conveyer
3 connect to encoder 1, it is not
effective to change encoder, so
by changing this parameter to
3,2,1,3,2,1,1,2, encoder
attached with conveyer 1
becomes logic encoder1.
21-110 Shine of changing parameter

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English